3D Grain Bin Localization Using Time-of-Flight Lateration

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Solution Overview

Problem

Bulk storage facilities for granular materials, such as grain bins, pose safety hazards due to steep slopes that can lead to entrapment and spoilage, and existing robotic systems struggle to effectively manage and level these slopes, especially in enclosed environments where GPS signals are blocked.

Innovation Solution

A robotic device equipped with an auger-based drive system that can traverse and manipulate granular materials, disrupting viscosity to incite sediment gravity flow and adjust slopes, while also mapping three-dimensional surfaces to optimize storage and management.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If GPS-based localization is used in grain bins, then positioning accuracy is improved, but GPS signals are blocked in enclosed environments

Engineering Contradiction:

Improvepositioning accuracyVSAvoidsignal blockage

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The patent introduces an intermediary localization system consisting of transmitters mounted on the grain bin and receivers on the robotic device. This intermediary system mediates between the need for positioning and the blocked GPS signals by creating a localized reference frame within the grain bin using electromagnetic signals that can penetrate the granular material.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces the GPS satellite-based electromagnetic system with a localized electromagnetic signaling system. The transmitters and receivers create a new signaling mechanism that operates independently of external satellite signals, substituting the failed GPS system with a self-contained localization infrastructure.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Productivity

If robotic devices traverse steep slopes in grain bins, then slope management is improved, but entrapment hazards increase

Engineering Contradiction:

Improveslope management efficiencyVSAvoidentrapment hazard

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The patent implements real-time feedback through the localization system that continuously monitors the robotic device's position and orientation on steep slopes. This feedback enables the control system to adjust traversal parameters dynamically, reducing entrapment risk while maintaining slope management productivity.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent employs prior cushioning by using the localization system to predict potentially hazardous situations before they occur. The system prepares safety responses in advance, such as alerting operators or automatically adjusting device parameters, to prevent entrapment before it happens.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

3Productivity

If three-dimensional mapping is performed in grain bins, then storage optimization is improved, but system complexity increases

Engineering Contradiction:

Improvestorage efficiencyVSAvoidmapping system complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The patent achieves universality by designing the localization system to serve multiple functions: positioning, orientation reference, and three-dimensional mapping. This multi-functional approach enables storage optimization without requiring separate complex mapping infrastructure, as the same transmitters and receivers support both navigation and mapping tasks.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The robotic device safely reduces slope angles, prevents entrapment, and improves storage efficiency by leveling and managing granular materials within bulk stores, even in enclosed environments where GPS is unavailable, enhancing safety and operational efficiency.

Implementation Method 1

disrupting viscosity to incite sediment gravity flow and adjust slopes

Methodology Applied

Scientific EffectSediment gravity flow: Gravitation

Implementation Method 2

mapping three-dimensional surfaces to optimize storage and management

Methodology Applied

Scientific EffectThree-dimensional mapping: LIDAR

Data Source

PatentUS20240408754A1Three-dimensional localization of a device within a grain bin

Publication Date: 2024.12.12 GRAIN WEEVIL CORP

AI summary

A localization system comprises: a device; a master unit which wirelessly transmits a first localization signal; a plurality of lateration units distributed about the area within which the device is being localized, wherein each lateration unit of the plurality independently starts its own timer upon its receipt of the first localization signal; and a localization unit. The device receives the first localization signal and responsively wirelessly transmits a second localization signal. Each of the lateration units: independently receives the second localization signal; stops its respective timer responsive to receipt of the second localization signal; and wirelessly transmits a timer count signal to a localization unit. The timer count signal identifies the transmitting lateration unit and a count of its respective timer. The localization unit utilizes the plurality of timer along with respective distances between the master unit and the lateration units to localize the first device via time-of-flight lateration.